Bipedal specializations are found in Australopithecus fossils from 4.2 to 3.9 million years ago, although Sahelanthropus may have walked on two legs as early as seven million years ago.

Where can bipedalism be found?

The oldest evidence for australopith bipedalism is found in the species Australopithecus anamensis (4.2 to 3.9 Ma). Found in Kenya, Au. anamensis most likely lived in a wooded savanna.

Did bipedalism originate in the trees?

An analysis of wrist anatomy in humans, chimps, bonobos and gorillas indicates our own bipedalism probably did not evolve from a knuckle-walking ancestor. ...